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FIRST Tech Challenge

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  • Capstone: Reusable RobotHardware Template
  • Capstone: Profiled Arm Tuning Report
  • Capstone: Vision-Selected Road Runner Auto

Capstone: Vision-Selected Road Runner Auto

Build the full autonomous stack.

Season Robot CapstonesCapstone

In this lesson, you will:

  • Select branch from vision.
  • Run Road Runner actions.
  • Use fallback and telemetry.

Concept narrative

This is the final autonomous proof: a camera result chooses a Road Runner action sequence that uses reusable mechanism actions and safe fallback behavior.

Robot mental model

Every subsystem contributes: hardware class, vision processor, drive localization, Road Runner actions, mechanism states, telemetry, and Git workflow.

Implementation walkthrough

Test each layer alone, then combine. The full auto should report selected branch, pose, active action, mechanism state, and fallback reason.

AutoCapstone.javaJava

PropPosition result = vision.getResultOrDefault();
Action auto = autoFactory.build(result);
Actions.runBlocking(auto);

Common mistakes and debugging

If full auto fails, isolate one layer. Never tune Road Runner and vision thresholds at the same time.

Practice

Build a full autonomous routine and present a validation checklist before running it at full speed.

Checkpoint

  • The SDK, Road Runner versions, configuration, localizer, start pose, and code commit are frozen in the report.
  • LEFT, CENTER, RIGHT, and UNKNOWN selection are tested with simulated inputs before motion.
  • Each path and mechanism action passes independently at reduced speed with explicit stop conditions.
  • Every branch completes three full cold-init runs within declared pose and timing tolerances.
  • UNKNOWN follows the documented conservative fallback and all outputs return to zero on STOP.
  • The final checklist links run logs, endpoint measurements, failures, fixes, and reviewer signoff.

Instructor review rubric

Pass when the frozen configuration completes three repeatable runs per branch within declared tolerances, UNKNOWN follows the conservative fallback, and STOP leaves every output safe.

Reflection check

Check your understanding before moving on.

What must be included in a vision-selected autonomous handoff before a full-speed run?
When should a team increase a validated autonomous from low-speed testing to match-speed motion?

0 of 2 answered

References

Road Runner CENTERSTAGE Auto GuideFull autonomous organization using actions and trajectories.Road Runner 1.0 ActionsAction composition, custom actions, and autonomous structure.FTC VisionPortal DocsOfficial FTC camera and processor lifecycle documentation.
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